Applications of the Semi-tensor Product to the Internet-based Tele-operation Systems

The modeling problem of an Internet-based tele-operation system using the semi-tensor product math tools is studied.The human-computer interaction and large time delay events in the Internet-based tele-operation control system, makes the system characterized by both the discrete event dynamics and the continuous dynamics.When the continuous dynamics and underlying discrete event dynamics react in a strong coupling way,the analysis of the system's performance and behaviors becomes more complex.So a modeling approach,named semi-tensor product hybrid modeling method,is proposed which introduces semi-tensor product to solve this problem.It can model a particular class of event systems as Boolean systems,and then systems which are similar to discrete dynamic systems will be obtained by using semi tensor product method.The coupling between the discrete events dynamics and the continuous dynamics is modeled directly in the semi-tensor product form.And finally after series of augmenting and simplifying processes,a complete system mathematical model is got,which will benefit further analyses and calculations.The proposed semi-tensor product modeling method and steps have some versatility and generality.In addition,simulations of semi-tensor product hybrid-model for Internet-based tele-operation system with time-based control and event-based control are conducted,and the simulation results show that the semi-tensor product hybrid modeling approach is valid and feasible,and the event-based control is superior to time-based control in the Internet-based tele-operation.